Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

MAVlink/include/common/mavlink_msg_global_position_int.h@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
0:a6a169de725f 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 // MESSAGE GLOBAL_POSITION_INT PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 73
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_global_position_int_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 int32_t lat; ///< Latitude, expressed as * 1E7
shimniok 0:a6a169de725f 8 int32_t lon; ///< Longitude, expressed as * 1E7
shimniok 0:a6a169de725f 9 int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
shimniok 0:a6a169de725f 10 int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
shimniok 0:a6a169de725f 11 int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
shimniok 0:a6a169de725f 12 int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
shimniok 0:a6a169de725f 13
shimniok 0:a6a169de725f 14 } mavlink_global_position_int_t;
shimniok 0:a6a169de725f 15
shimniok 0:a6a169de725f 16
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18 /**
shimniok 0:a6a169de725f 19 * @brief Pack a global_position_int message
shimniok 0:a6a169de725f 20 * @param system_id ID of this system
shimniok 0:a6a169de725f 21 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 22 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 23 *
shimniok 0:a6a169de725f 24 * @param lat Latitude, expressed as * 1E7
shimniok 0:a6a169de725f 25 * @param lon Longitude, expressed as * 1E7
shimniok 0:a6a169de725f 26 * @param alt Altitude in meters, expressed as * 1000 (millimeters)
shimniok 0:a6a169de725f 27 * @param vx Ground X Speed (Latitude), expressed as m/s * 100
shimniok 0:a6a169de725f 28 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
shimniok 0:a6a169de725f 29 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
shimniok 0:a6a169de725f 30 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 31 */
shimniok 0:a6a169de725f 32 static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz)
shimniok 0:a6a169de725f 33 {
shimniok 0:a6a169de725f 34 uint16_t i = 0;
shimniok 0:a6a169de725f 35 msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
shimniok 0:a6a169de725f 36
shimniok 0:a6a169de725f 37 i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7
shimniok 0:a6a169de725f 38 i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7
shimniok 0:a6a169de725f 39 i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters)
shimniok 0:a6a169de725f 40 i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100
shimniok 0:a6a169de725f 41 i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100
shimniok 0:a6a169de725f 42 i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100
shimniok 0:a6a169de725f 43
shimniok 0:a6a169de725f 44 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 45 }
shimniok 0:a6a169de725f 46
shimniok 0:a6a169de725f 47 /**
shimniok 0:a6a169de725f 48 * @brief Pack a global_position_int message
shimniok 0:a6a169de725f 49 * @param system_id ID of this system
shimniok 0:a6a169de725f 50 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 51 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 52 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 53 * @param lat Latitude, expressed as * 1E7
shimniok 0:a6a169de725f 54 * @param lon Longitude, expressed as * 1E7
shimniok 0:a6a169de725f 55 * @param alt Altitude in meters, expressed as * 1000 (millimeters)
shimniok 0:a6a169de725f 56 * @param vx Ground X Speed (Latitude), expressed as m/s * 100
shimniok 0:a6a169de725f 57 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
shimniok 0:a6a169de725f 58 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
shimniok 0:a6a169de725f 59 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 60 */
shimniok 0:a6a169de725f 61 static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz)
shimniok 0:a6a169de725f 62 {
shimniok 0:a6a169de725f 63 uint16_t i = 0;
shimniok 0:a6a169de725f 64 msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
shimniok 0:a6a169de725f 65
shimniok 0:a6a169de725f 66 i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7
shimniok 0:a6a169de725f 67 i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7
shimniok 0:a6a169de725f 68 i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters)
shimniok 0:a6a169de725f 69 i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100
shimniok 0:a6a169de725f 70 i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100
shimniok 0:a6a169de725f 71 i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100
shimniok 0:a6a169de725f 72
shimniok 0:a6a169de725f 73 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 74 }
shimniok 0:a6a169de725f 75
shimniok 0:a6a169de725f 76 /**
shimniok 0:a6a169de725f 77 * @brief Encode a global_position_int struct into a message
shimniok 0:a6a169de725f 78 *
shimniok 0:a6a169de725f 79 * @param system_id ID of this system
shimniok 0:a6a169de725f 80 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 81 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 82 * @param global_position_int C-struct to read the message contents from
shimniok 0:a6a169de725f 83 */
shimniok 0:a6a169de725f 84 static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
shimniok 0:a6a169de725f 85 {
shimniok 0:a6a169de725f 86 return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->vx, global_position_int->vy, global_position_int->vz);
shimniok 0:a6a169de725f 87 }
shimniok 0:a6a169de725f 88
shimniok 0:a6a169de725f 89 /**
shimniok 0:a6a169de725f 90 * @brief Send a global_position_int message
shimniok 0:a6a169de725f 91 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 92 *
shimniok 0:a6a169de725f 93 * @param lat Latitude, expressed as * 1E7
shimniok 0:a6a169de725f 94 * @param lon Longitude, expressed as * 1E7
shimniok 0:a6a169de725f 95 * @param alt Altitude in meters, expressed as * 1000 (millimeters)
shimniok 0:a6a169de725f 96 * @param vx Ground X Speed (Latitude), expressed as m/s * 100
shimniok 0:a6a169de725f 97 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
shimniok 0:a6a169de725f 98 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
shimniok 0:a6a169de725f 99 */
shimniok 0:a6a169de725f 100 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 101
shimniok 0:a6a169de725f 102 static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz)
shimniok 0:a6a169de725f 103 {
shimniok 0:a6a169de725f 104 mavlink_message_t msg;
shimniok 0:a6a169de725f 105 mavlink_msg_global_position_int_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, lat, lon, alt, vx, vy, vz);
shimniok 0:a6a169de725f 106 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 107 }
shimniok 0:a6a169de725f 108
shimniok 0:a6a169de725f 109 #endif
shimniok 0:a6a169de725f 110 // MESSAGE GLOBAL_POSITION_INT UNPACKING
shimniok 0:a6a169de725f 111
shimniok 0:a6a169de725f 112 /**
shimniok 0:a6a169de725f 113 * @brief Get field lat from global_position_int message
shimniok 0:a6a169de725f 114 *
shimniok 0:a6a169de725f 115 * @return Latitude, expressed as * 1E7
shimniok 0:a6a169de725f 116 */
shimniok 0:a6a169de725f 117 static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 118 {
shimniok 0:a6a169de725f 119 generic_32bit r;
shimniok 0:a6a169de725f 120 r.b[3] = (msg->payload)[0];
shimniok 0:a6a169de725f 121 r.b[2] = (msg->payload)[1];
shimniok 0:a6a169de725f 122 r.b[1] = (msg->payload)[2];
shimniok 0:a6a169de725f 123 r.b[0] = (msg->payload)[3];
shimniok 0:a6a169de725f 124 return (int32_t)r.i;
shimniok 0:a6a169de725f 125 }
shimniok 0:a6a169de725f 126
shimniok 0:a6a169de725f 127 /**
shimniok 0:a6a169de725f 128 * @brief Get field lon from global_position_int message
shimniok 0:a6a169de725f 129 *
shimniok 0:a6a169de725f 130 * @return Longitude, expressed as * 1E7
shimniok 0:a6a169de725f 131 */
shimniok 0:a6a169de725f 132 static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 133 {
shimniok 0:a6a169de725f 134 generic_32bit r;
shimniok 0:a6a169de725f 135 r.b[3] = (msg->payload+sizeof(int32_t))[0];
shimniok 0:a6a169de725f 136 r.b[2] = (msg->payload+sizeof(int32_t))[1];
shimniok 0:a6a169de725f 137 r.b[1] = (msg->payload+sizeof(int32_t))[2];
shimniok 0:a6a169de725f 138 r.b[0] = (msg->payload+sizeof(int32_t))[3];
shimniok 0:a6a169de725f 139 return (int32_t)r.i;
shimniok 0:a6a169de725f 140 }
shimniok 0:a6a169de725f 141
shimniok 0:a6a169de725f 142 /**
shimniok 0:a6a169de725f 143 * @brief Get field alt from global_position_int message
shimniok 0:a6a169de725f 144 *
shimniok 0:a6a169de725f 145 * @return Altitude in meters, expressed as * 1000 (millimeters)
shimniok 0:a6a169de725f 146 */
shimniok 0:a6a169de725f 147 static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 148 {
shimniok 0:a6a169de725f 149 generic_32bit r;
shimniok 0:a6a169de725f 150 r.b[3] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[0];
shimniok 0:a6a169de725f 151 r.b[2] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[1];
shimniok 0:a6a169de725f 152 r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[2];
shimniok 0:a6a169de725f 153 r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t))[3];
shimniok 0:a6a169de725f 154 return (int32_t)r.i;
shimniok 0:a6a169de725f 155 }
shimniok 0:a6a169de725f 156
shimniok 0:a6a169de725f 157 /**
shimniok 0:a6a169de725f 158 * @brief Get field vx from global_position_int message
shimniok 0:a6a169de725f 159 *
shimniok 0:a6a169de725f 160 * @return Ground X Speed (Latitude), expressed as m/s * 100
shimniok 0:a6a169de725f 161 */
shimniok 0:a6a169de725f 162 static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 163 {
shimniok 0:a6a169de725f 164 generic_16bit r;
shimniok 0:a6a169de725f 165 r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0];
shimniok 0:a6a169de725f 166 r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1];
shimniok 0:a6a169de725f 167 return (int16_t)r.s;
shimniok 0:a6a169de725f 168 }
shimniok 0:a6a169de725f 169
shimniok 0:a6a169de725f 170 /**
shimniok 0:a6a169de725f 171 * @brief Get field vy from global_position_int message
shimniok 0:a6a169de725f 172 *
shimniok 0:a6a169de725f 173 * @return Ground Y Speed (Longitude), expressed as m/s * 100
shimniok 0:a6a169de725f 174 */
shimniok 0:a6a169de725f 175 static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 176 {
shimniok 0:a6a169de725f 177 generic_16bit r;
shimniok 0:a6a169de725f 178 r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 179 r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[1];
shimniok 0:a6a169de725f 180 return (int16_t)r.s;
shimniok 0:a6a169de725f 181 }
shimniok 0:a6a169de725f 182
shimniok 0:a6a169de725f 183 /**
shimniok 0:a6a169de725f 184 * @brief Get field vz from global_position_int message
shimniok 0:a6a169de725f 185 *
shimniok 0:a6a169de725f 186 * @return Ground Z Speed (Altitude), expressed as m/s * 100
shimniok 0:a6a169de725f 187 */
shimniok 0:a6a169de725f 188 static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 189 {
shimniok 0:a6a169de725f 190 generic_16bit r;
shimniok 0:a6a169de725f 191 r.b[1] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 192 r.b[0] = (msg->payload+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:a6a169de725f 193 return (int16_t)r.s;
shimniok 0:a6a169de725f 194 }
shimniok 0:a6a169de725f 195
shimniok 0:a6a169de725f 196 /**
shimniok 0:a6a169de725f 197 * @brief Decode a global_position_int message into a struct
shimniok 0:a6a169de725f 198 *
shimniok 0:a6a169de725f 199 * @param msg The message to decode
shimniok 0:a6a169de725f 200 * @param global_position_int C-struct to decode the message contents into
shimniok 0:a6a169de725f 201 */
shimniok 0:a6a169de725f 202 static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int)
shimniok 0:a6a169de725f 203 {
shimniok 0:a6a169de725f 204 global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg);
shimniok 0:a6a169de725f 205 global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg);
shimniok 0:a6a169de725f 206 global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg);
shimniok 0:a6a169de725f 207 global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg);
shimniok 0:a6a169de725f 208 global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg);
shimniok 0:a6a169de725f 209 global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg);
shimniok 0:a6a169de725f 210 }